CN110370923B

CN110370923B - Power distribution device and automated guided vehicle

Info

Publication number: CN110370923B
Application number: CN201910521322.3A
Authority: CN
Inventors: 梁风勇
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-06-17
Filing date: 2019-06-17
Publication date: 2020-08-04
Anticipated expiration: 2039-06-17
Also published as: CN110370923A

Abstract

The invention relates to a power distribution device and an automatic guided vehicle. The power distribution device comprises a power mechanism, a first transmission mechanism and a second transmission mechanism, wherein the power mechanism comprises a rotary power source and a rotating shaft connected with the rotary power source. The first transmission mechanism is connected with the rotating shaft through a first clutch, and the first transmission mechanism is used for being connected with a driving wheel. The second transmission mechanism is connected with the rotating shaft through a second clutch and is used for being connected with the lifting mechanism. In the power distribution device, the same rotary power source realizes reasonable power distribution by means of the first clutch and the second clutch, so that the power distribution device can drive and control the motion state of the driving wheel and the lifting motion of the lifting mechanism, meet all power output, greatly reduce the number of driving pieces and further simplify the structure of the automatic guide transport vehicle.

Description

Power distribution device and automated guided vehicle

Technical Field

The invention relates to the technical field of automatic guided transport robots, in particular to a power distribution device and an automatic guided transport vehicle.

Background

AGVs are english acronyms of Automated Guided vehicles (Automated Guided vehicles), which are Automated logistics equipment that are now widely used in the field of component and finished product transfer in modern factories. The AGV can fully embody the automation and the flexibility of the AGV and realize the high-efficiency, economical and flexible unmanned production, so that the AGV is vividly called as an artery of a modern logistics system.

AGV of traditional tricycle structural style, its travel drive mode includes following two kinds:

(1) single drive: one driving and steering wheel and two fixed driven wheels distributed on two sides of the axis of the vehicle body. The vehicle can move forward, backward and turn left and right (the turning angle is less than 90 degrees, the turning radius is larger), the ground surface is generally required, and the vehicle is suitable for wide environments and occasions.

(2) Two-wheel differential drive: the two independent driving wheels are coaxially and parallelly fixed in the middle of the vehicle body, other free universal wheels play a supporting role, and the controller can realize the steering with any turning radius by adjusting the rotating speed and the steering of the two driving wheels. The tricycle can move forward, move backward, turn left and right (the rotation angle is more than 90 degrees), spin in place, have stronger turning adaptability than single drive, and have similar applicability to the ground surface and single drive if the tricycle is used.

Obviously, the two-wheel differential drive is superior to the single drive, but the two-wheel differential drive adds a motor, and the cost and the control difficulty are also improved. The conventional motion control device for the AGV is complex at present, the problem of synchronous driving of two independent driving wheels when the AGV runs linearly has relative technical difficulties, a closed-loop system is formed by a control system through encoder feedback arranged on a driving shaft, and the motion precision is ensured by combining a corresponding algorithm.

And, the transportation process of thing needs to realize carrying out the access of goods after jacking certain height with the goods, and the jacking of goods is realized through the climbing mechanism of automated guided transporting vehicle. The jacking mechanism of the traditional automatic guided vehicle generally comprises a trapezoidal nut and a lead screw. The conventional automated guided vehicle also requires a special lifting drive motor and gear assembly. The gear assembly is driven to rotate by the lifting driving motor, the gear assembly drives the nut to rotate, the screw rod moves up and down, and the tray bearing the goods is placed on the screw rod, so that the goods are lifted.

Therefore, the conventional automatic guided vehicle has a problem of complex structure, and needs to be provided with driving motors corresponding to the independent driving wheels one by one, and to synchronously control each first driving motor through a complex control device, and also needs to be provided with a special lifting driving motor and a gear assembly for providing power for the jacking mechanism, thereby further increasing the complexity of the control device.

Disclosure of Invention

Therefore, it is necessary to provide a power distribution device and an automated guided vehicle, in which the same rotary power source achieves reasonable power distribution by means of the first clutch and the second clutch, so as to satisfy all power outputs and greatly reduce the number of driving members, thereby simplifying the structure of the automated guided vehicle.

A power distribution device applied to an automated guided vehicle comprises:

the power mechanism comprises a rotary power source and a rotating shaft connected with the rotary power source;

the first transmission mechanism is connected with the rotating shaft through a first clutch and is used for being connected with a driving wheel; and

the second transmission mechanism is connected with the rotating shaft through a second clutch and is used for being connected with the lifting mechanism;

the first clutch and the second clutch are arranged on the rotating shaft in a spaced manner.

In the power distribution device, the rotary power source controls the first transmission mechanism to operate through the first clutch so as to drive and control the motion state of the driving wheel, and simultaneously, the rotary power source also controls the second transmission mechanism to operate through the second clutch so as to drive and control the lifting mechanism to move up and down. Therefore, in the power distribution device, the same rotary power source realizes reasonable power distribution by means of the first clutch and the second clutch, the motion state of the driving wheel can be driven and controlled, the lifting motion of the lifting mechanism can be driven and controlled, all power output is met, the number of driving pieces is greatly reduced, and the structure of the automatic guide transport vehicle is simplified.

In one embodiment, the first transmission mechanism comprises a first central wheel and at least one first planetary wheel, the first central wheel is provided with a first through hole for the rotating shaft to pass through, the first central wheel is connected with the first clutch, the first planetary wheels are meshed with the first central wheel, the number of the first planetary wheels corresponds to that of the driving wheels, and the first planetary wheels are used for being connected with the driving wheels.

In one embodiment, the first clutch is a first electromagnetic clutch, and the first electromagnetic clutch includes a first static friction disk and a first dynamic friction disk configured to be electromagnetically attracted, the first static friction disk is fixedly connected to the first center wheel, and the first dynamic friction disk is fixedly connected to the rotating shaft.

In one embodiment, the first central gear is a spur gear, and the first planetary gears are uniformly distributed along the circumferential direction of the spur gear.

In one embodiment, the second transmission mechanism includes a second central wheel and a second planetary wheel, the second central wheel is provided with a second through hole for the rotating shaft to pass through, the second central wheel is connected with the second clutch, the second planetary wheel is meshed with the second central wheel, and the second planetary wheel is used for being connected with the lifting mechanism.

In one embodiment, the power distribution device further comprises a thrust bearing, one side of which abuts against the first center wheel and the other side of which abuts against the second center wheel.

In one embodiment, a first limiting convex ring is arranged on one side, close to the thrust bearing, of the first center wheel, and the thrust bearing is sleeved with the first limiting convex ring.

In one embodiment, a second limiting convex ring is arranged on one side, close to the thrust bearing, of the second center wheel, and the thrust bearing is sleeved with the second limiting convex ring.

In one embodiment, the second clutch is a second electromagnetic clutch, and the second electromagnetic clutch includes a second static friction disk and a second dynamic friction disk configured to be electromagnetically attracted, the second static friction disk is fixedly connected to the second center wheel, and the second dynamic friction disk is fixedly connected to the rotating shaft.

In one embodiment, the second central gear is a face gear, and the second planetary gear is a conical spur gear in meshing fit with the face gear.

In one embodiment, the rotary power source is a driving motor, and an output shaft of the driving motor is fixedly connected with the rotating shaft through a coupler.

An automatic guide transport vechicle, includes base, plummer, drive wheel, elevating system and above-mentioned power distribution device, rotary power source install in the base, the drive wheel with first drive mechanism is connected, and install in the bottom of base, elevating system respectively with second drive mechanism with the plummer is connected.

The automatic guide transport vehicle adopts the same rotary power source, realizes reasonable power distribution through the first clutch and the second clutch, can drive and control the motion state of the driving wheel, can drive and control the lifting motion of the lifting mechanism and the bearing platform, meets all power output, greatly reduces the quantity of driving pieces, and has a more simplified structure.

Drawings

FIG. 1 is a schematic view of an automated guided vehicle according to an embodiment of the present invention;

FIG. 2 is another perspective view of the automated guided vehicle of FIG. 1;

FIG. 3 is an internal structural view of the automated guided vehicle of FIG. 1;

FIG. 4 is a schematic structural view of a power distribution device of the automated guided vehicle shown in FIG. 3;

FIG. 5 is another perspective view of the power split device of FIG. 4;

FIG. 6 is an exploded view of the power distribution apparatus of FIG. 4;

FIG. 7 is a schematic view of a first center wheel of the power split device shown in FIG. 4;

fig. 8 is a schematic structural view of a second center wheel of the power distribution apparatus shown in fig. 4.

10. The power distribution device comprises a power distribution device 100, a power mechanism 110, a rotary power source 120, a rotating shaft 130, a coupler 200, a first transmission mechanism 211, a first static friction disk 212, a first dynamic friction disk 220, a first central wheel 221, a first through hole 222, a first limit convex ring 223, a first connecting hole 230, a first planet wheel 240, a first fastening piece 300, a second transmission mechanism 310, a second clutch 311, a second static friction disk 312, a second dynamic friction disk 320, a second central wheel 321, a second through hole 322, a second limit convex ring 323, a second connecting hole 330, a second planet wheel 340, a second fastening piece 400, a thrust bearing 20, a base 30, a driving wheel 40, a lifting mechanism 50, a bearing platform 60 and a protective cover.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only. The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

Fig. 1 shows a schematic structural view of an automated guided vehicle. Referring to fig. 1 to 3, the automated guided vehicle includes a base 20, a loading platform 50, a driving wheel 30, a lifting mechanism 40, and a power distribution apparatus 10. Alternatively, the base 20 is a bottom plate and the carrier 50 is a top plate.

Referring to fig. 4 to 6, the power distribution device 10 includes a power mechanism 100, a first transmission mechanism 200, and a second transmission mechanism 300. The power mechanism 100 includes a rotary power source 110 and a rotary shaft 120 connected to the rotary power source 110. The first transmission mechanism 200 is connected to the rotating shaft 120 through a first clutch (not shown), and the first transmission mechanism 200 is used for connecting to the driving wheel 30. The second transmission mechanism 300 is connected to the rotating shaft 120 through a second clutch 310, and the second transmission mechanism 300 is used for connecting to the lifting mechanism 40. Specifically, the second clutch 310 and the first clutch are sleeved on the rotating shaft 120 at intervals, and one of an electromagnetic clutch, a magnetic powder clutch, a friction clutch and a hydraulic clutch can be selected as the first clutch and the second clutch 310.

In the power distribution device 10, the rotary power source 110 controls the first transmission mechanism 200 to operate through the first clutch to realize the motion state of driving the driving wheel 30, and the rotary power source 110 also controls the second transmission mechanism 300 to operate through the second clutch 310 to realize the lifting motion of driving the lifting mechanism 40. Thus, in the power distribution device 10, the same rotary power source 110 is matched with the first clutch and the second clutch 310, so that reasonable power distribution is realized, the motion state of the driving wheel 30 can be driven and controlled, and the lifting motion of the lifting mechanism 40 can be driven and controlled, all power output is met, the number of driving pieces is greatly reduced, and the structure of the automated guided vehicle is simplified.

Accordingly, in the automated guided vehicle, the rotary power source 110 is mounted on the base 20, the driving wheel 30 is connected to the first transmission mechanism 200 and mounted on the bottom of the base 20, and the elevating mechanism 40 is connected to the second transmission mechanism 300 and the loading platform 50, respectively. The carrier 50 is used for placing goods. The lifting mechanism 40 includes two links hinged to each other. One end of the lifting mechanism 40 is connected to the second transmission mechanism 300, and the other end is connected to the plummer 50. The link structure can achieve a large vertical lift of the carrier 50. The lifting mechanism 40 is driven by the second transmission mechanism 300 to transmit torque to lift the bearing platform 50, so that the goods can be lifted, and the goods can be conveniently stored and taken.

Further, the automated guided vehicle further includes a protective cover 60 provided on the base 20. The first drive mechanism 200 and the second drive mechanism 300 are located within the protective cover 60. The protective cover 60 is a transparent cover.

Table 1 shows the correspondence between the operation of the first clutch and the second clutch 310 and the operation of the automated guided vehicle when the rotary power source 110 is activated. When the first clutch is turned on, the power mechanism 100 can drive the driving wheel 30 to rotate through the first clutch and the first transmission mechanism 200, so as to realize the traveling of the automatic guided vehicle. Otherwise, the first clutch is disconnected, and the automatic guided vehicle stops running. When the second clutch 310 is turned on, the power mechanism 100 can drive the lifting mechanism 40 to lift through the second clutch 310 and the second transmission mechanism 300, so as to lift the plummer 50. Otherwise, the second clutch 310 is disconnected, and the carrier 50 is not moved. Specifically, the rotary drive source may be selected from a motor, a rotary cylinder, or a rotary cylinder. Specifically, the rotary power source 110 can be a servo motor, so that the control is more accurate and convenient. The rotation driving source rotates forward or backward, and accordingly, the automatic guided vehicle can be driven forward or backward, and the carrier table 50 can be driven up or down.

TABLE 1

As can be seen from table 1, in the power distribution device 10, only one rotary power source 110 is needed to drive the driving wheel 30 and the lifting mechanism 40, and the driving components are reduced, and the first clutch and the second clutch 310 are used in cooperation, so that the control cost and the control difficulty are greatly reduced, the synchronous rotation of a plurality of driving wheels 30 (as shown in fig. 1, the number of the driving wheels 30 is three) can be realized, and the control of the lifting mechanism 40 is simplified. The traditional two-wheel differential driving not only increases the motors, but also has great difficulty in controlling the two motors to realize the synchronous walking of the two independent driving wheels 30. Needless to say, when the number of the driving wheels 30 exceeds two, and a motor specially provided for the elevating mechanism 40 needs to be controlled, the difficulty of control and cost thereof are greatly increased.

Specifically, referring to fig. 4 to 6, the first transmission mechanism 200 includes a first central wheel 220 and at least one first planetary wheel 230, the first central wheel 220 is provided with a first through hole 221 (see fig. 7) for the rotating shaft 120 to pass through, the first central wheel 220 is connected to the first clutch, the first planetary wheel 230 is engaged with the first central wheel 220, the number of the first planetary wheels 230 corresponds to the number of the driving wheels 30, and the first planetary wheel 230 is used for being connected to the driving wheels 30. At least one first planetary gear 230 is meshed with the same first central wheel 220, and when a plurality of first planetary gears 230 are arranged, the plurality of first planetary gears 230 and the driving wheel 30 can synchronously rotate at a constant speed, so that the control difficulty of synchronous rotation of the driving wheel 30 is greatly reduced.

In this embodiment, the number of the first planetary gears 230 and the driving wheels 30 is three, and in other embodiments, the number of the first planetary gears 230 and the driving wheels 30 can be one, two, four, five, and the like, which is not limited herein. For example, when the number of the first planetary wheels 230 and the driving wheels 30 is one, the automated guided vehicle may be further provided with two auxiliary supporting universal wheels. Similarly, when the number of the first planetary gears 230 and the driving wheels 30 is two, an auxiliary supporting universal wheel may be provided. Therefore, the automated guided vehicle can realize one-wheel drive, two-wheel drive, or multi-wheel drive based on the power distribution device 10.

Further, with reference to fig. 2, 4 and 6, the first clutch is a first electromagnetic clutch. The first electromagnetic clutch includes a first static friction disk 211 and a first dynamic friction disk 212 configured to be electromagnetically attracted, the first static friction disk 211 being fixedly connected to the first center wheel 220, and the first dynamic friction disk 212 being fixedly connected to the rotating shaft 120. Alternatively, the first friction disk 212 is connected to the rotating shaft 120 by a pin. After the first electromagnetic clutch is powered on, the first static friction disk 211 and the first dynamic friction disk 212 are adsorbed and fixedly connected into a whole, the power of the rotary power source 110 can drive the first central wheel 220 to rotate, the first planetary wheels 230 meshed with the first central wheel 220 also rotate along with the first central wheel, and then the first planetary wheels 230 drive the driving wheel 30 to rotate, so that the driving wheel 30 drives the automatic guided vehicle to move. The first electromagnetic clutch can be switched on and off for control, and the control cost and the control difficulty of the power distribution device 10 are greatly reduced.

Optionally, referring to fig. 7, the first center wheel 220 is provided with a first connection hole 223. The first transmission 200 also includes a first fastener 240. The first fastening member 240 is connected to the first static friction disk 211 and inserted into the first connection hole 223, so that the first static friction disk 211 is fixedly connected to the first center wheel 220.

In particular, the drive wheel 30 may optionally be indirectly connected with the first planet wheel 230. A worm, a worm wheel and a driving planet wheel are arranged between the first planet wheel 230 and the driving wheel 30 in sequence. The first planetary wheel 230 drives the worm fixed by the screw to rotate, drives the worm wheel matched with the worm and the driving planetary wheel fixedly connected with the worm wheel to rotate, and finally the driving wheel 30 drives the trolley to move.

Further, referring to fig. 2 and 3, the first central gear 220 is a spur gear, and the plurality of first planetary gears 230 are uniformly distributed along a circumferential direction of the spur gear. Accordingly, the driving wheels 30 are uniformly distributed at the bottom of the base 20 along the axis of the spur gear. The spur gear and the plurality of first planetary gears 230 are installed on the same plane corresponding to the plurality of driving wheels 30, which is advantageous for efficient power transmission and space-saving structure.

Specifically, referring to fig. 2, 4 and 6, the second transmission mechanism 300 includes a second central wheel 320 and second planetary wheels 330, the second central wheel 320 is provided with a second through hole 321 (see fig. 8) for the rotating shaft 120 to pass through, the second central wheel 320 is connected to the second clutch 310, the second planetary wheels 330 are meshed with the second central wheel 320, and the second planetary wheels 330 are used for being connected to the lifting mechanism 40. By means of the gear transmission mode, stable power transmission is achieved.

The number of the second center wheels 320 and the lifting mechanism 40 may be two or more. The two or more lifting mechanisms 40 support the bearing platform 50 together, which is beneficial to the stable lifting of the bearing platform 50.

Further, referring to fig. 4 and 6, the power distribution device 10 further includes a thrust bearing 400, and one side of the thrust bearing 400 abuts against the first center wheel 220 and the other side abuts against the second center wheel 320. The thrust bearing 400 is disposed between the first center wheel 220 and the second center wheel 320, and axially supports the first transmission mechanism 200 and the second transmission mechanism 300 along the rotation shaft 120, so as to prevent the first transmission mechanism and the second transmission mechanism from colliding with each other, and enable the first transmission mechanism and the second transmission mechanism to be independent of each other. Alternatively, the thrust bearing 400 is a thrust ball bearing.

Further, referring to fig. 7, a first limit protruding ring 222 is disposed on a side of the first center wheel 220 close to the thrust bearing 400. The thrust bearing 400 is sleeved with the first limiting convex ring 222, and the first limiting convex ring 222 plays a role in limiting and positioning the thrust bearing 400.

Further, referring to fig. 8, a second limiting convex ring 322 is disposed on a side of the second center wheel 320 close to the thrust bearing 400, the thrust bearing 400 is sleeved with the second limiting convex ring 322, and the second limiting convex ring 322 limits and positions the thrust bearing 400.

Specifically, the second clutch 310 is a second electromagnetic clutch, and the second electromagnetic clutch includes a second static friction disk 311 and a second dynamic friction disk 312, which are configured to be electromagnetically attracted, the second static friction disk 311 is fixedly connected to the second center wheel 320, and the second dynamic friction disk 312 is fixedly connected to the rotating shaft 120. Alternatively, the second friction disk 312 is connected to the rotating shaft 120 by a pin. After the second electromagnetic clutch is powered on, the second static friction disk 311 and the second dynamic friction disk 312 are adsorbed and fixedly connected into a whole, the power of the rotary power source 110 drives the second center wheel 320 to rotate through the coupler 130, and the second planet wheel 330 meshed with the second center wheel 320 also rotates along with the second center wheel, so as to drive the lifting mechanism 40 to rotate, and further drive the bearing table 50 to do lifting movement. The second electromagnetic clutch can be switched on and off for control, and the control cost and the control difficulty of the power distribution device 10 are greatly reduced.

Optionally, referring to fig. 8, the second center wheel 320 is provided with a second coupling hole 323. The second transmission 300 also includes a second fastener 340. The second fastening member 340 is connected to the second static friction disk 311 and inserted into the second connection hole 323, so as to fixedly connect the second static friction disk 311 and the second center wheel 320.

Further, the second central gear 320 is a face gear, and the second planetary gear 330 is a conical spur gear engaged with the face gear. The face gear and the conical straight gear are in height distribution, so that the lifting control of the lifting mechanism 40 is conveniently realized, and the space size of the structure is saved.

Specifically, referring to fig. 6, the rotary power source 110 is a driving motor, and an output shaft of the driving motor is fixedly connected to the rotating shaft 120 through a coupling 130. The power of the driving motor is efficiently transmitted to the rotation shaft 120 through the coupling 130.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A power distribution device applied to an automatic guided vehicle is characterized by comprising:

2. The power distribution device according to claim 1, wherein the first transmission mechanism includes a first center wheel and at least one first planetary gear, the first center wheel is provided with a first through hole for the rotating shaft to pass through, the first center wheel is connected with the first clutch, the first planetary gear is meshed with the first center wheel, the number of the first planetary gears corresponds to the number of the driving wheels, and the first planetary gear is used for being connected with the driving wheels.

3. The power distribution apparatus of claim 2, wherein the first clutch is a first electromagnetic clutch including a first static friction disk and a first dynamic friction disk configured to be electromagnetically attracted, the first static friction disk being fixedly connected to the first center wheel, the first dynamic friction disk being fixedly connected to the rotating shaft.

4. The power distribution device according to claim 2, wherein the first center gear is a spur gear, and the plurality of first planetary gears are uniformly distributed in a circumferential direction of the spur gear.

5. The power distribution device of any one of claims 2 to 4, wherein the second transmission mechanism comprises a second sun gear and second planet gears, the second sun gear is connected with the second clutch, the second planet gears are meshed with the second sun gear, and the second planet gears are used for being connected with the lifting mechanism.

6. The power distribution device of claim 5, further comprising a thrust bearing having one side abutting the first center wheel and another side abutting the second center wheel.

7. The power distribution device of claim 6, wherein a first limit protrusion ring is disposed on a side of the first center wheel close to the thrust bearing, and the first limit protrusion ring is sleeved on the thrust bearing.

8. The power distribution device of claim 6, wherein a second limit protrusion ring is disposed on a side of the second center wheel close to the thrust bearing, and the second limit protrusion ring is sleeved on the thrust bearing.

9. The power distribution apparatus of claim 5, wherein the second clutch is a second electromagnetic clutch including a second static friction disk and a second dynamic friction disk configured to be electromagnetically attracted, the second static friction disk being fixedly connected to the second center wheel, the second dynamic friction disk being fixedly connected to the rotating shaft.

10. The power split device of claim 5, wherein the second sun gear is a face gear and the second planet gears are spur gears in meshing engagement with the face gear.

11. The power distribution device of claim 1, wherein the source of rotational power is a drive motor, an output shaft of the drive motor being fixedly coupled to the shaft via a coupling.

12. An automated guided vehicle comprising a base, a loading platform, a driving wheel, a lifting mechanism and the power distribution device of any one of claims 1 to 11, wherein the rotary power source is mounted on the base, the driving wheel is connected with the first transmission mechanism and mounted at the bottom of the base, and the lifting mechanism is connected with the second transmission mechanism and the loading platform respectively.